FANUC Educational Cell Manual

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Education Cell
Technical Documentation for the R-30iB Plus Controller
V4.3

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1 Contents
1 Selecting and running Example program ............................................................................................... 4
1.1 Start Up Screen ........................................................................................................................... 4
1.2 Example Program “AAA_DEMO” ................................................................................................ 5
1.3 AAA_DEMO Program Sequence with / without iRVision ........................................................... 9
1.4 Operation Menu Display ............................................................................................................ 10
1.5 4D Graphics (Option) ................................................................................................................. 11
2 Demonstration Program Setup / Teaching ........................................................................................... 12
2.1 Gripper Setup............................................................................................................................. 12
2.2 UFrame 2 Setup ......................................................................................................................... 13
2.3 Orient Origin Point ..................................................................................................................... 15
2.4 X-Direction Point ....................................................................................................................... 16
2.5 Y-Direction Point ....................................................................................................................... 17
3 Robot Setup ............................................................................................................................................ 18
3.1 UTOOL / TCP Setup ................................................................................................................... 18
3.2 Payload Setup ............................................................................................................................ 18
3.3 DCS Setup .................................................................................................................................. 19
3.3.1 DCS Tool Model. ........................................................................................................................ 19
3.3.2 DCS Safe Zone ........................................................................................................................... 20
3.4 I/O Setup .................................................................................................................................... 21
3.5 Macro Setup ............................................................................................................................... 22
3.6 TP Function Key Hint Screen .................................................................................................... 23
3.7 Home / Reference Position ....................................................................................................... 24
3.8 Power Up Program .................................................................................................................... 25
4 iRVision Setup ( Option ) ......................................................................................................................... 26
4.1 Camera Adjustment .................................................................................................................. 26
4.2 Application Frame ..................................................................................................................... 28
4.3 Camera Calibration ................................................................................................................... 29
4.4 Example iRVision Application ................................................................................................... 31
4.5 iRVision Tips .............................................................................................................................. 32
4.6 TP Program................................................................................................................................ 34
5 List of Registers ..................................................................................................................................... 35
5.1 Numeric registers ..................................................................................................................... 35
5.2 Position Registers ..................................................................................................................... 37
6 Program Details ..................................................................................................................................... 38
6.1 List of programs ........................................................................................................................ 38
6.2 Sample Program Listings ......................................................................................................... 41
7 User Interface Setup .............................................................................................................................. 43
7.1 Menu Utility Setup ..................................................................................................................... 43
7.2 HTML Screens ........................................................................................................................... 44
7.3 HTML Listing Extract ................................................................................................................. 45
8 Electrical Drawings ................................................................................................................................ 49
9 Key Spare Part Numbers ....................................................................................................................... 52

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10 Technical Data ........................................................................................................................................ 52
11 Version .................................................................................................................................................... 53
Disclaimer
This documentation has been provided by FANUC Europe Corporation S.A. (“FANUC”) for
convenience and general information purposes only, with no intention of providing comprehensive,
complete, accurate or up to date information. Therefore, FANUC does not warrant or assume any
legal liability or responsibility whatsoever for the accuracy, completeness, or usefulness of any
information, application, apparatus, product, use, processes or services disclosed herein.
Should you be interested in obtaining specific information or advice on FANUC applications,
apparatus, products, use, processes or services, please contact FANUC at:
FANUC Europe Corporation
Société Anonyme
Zone Industrielle
L-6468 Echternach
Grand Duchy of Luxembourg
Tel.: [phone]
INTENDED USE OF EDUCATION CELL
The Education Cell is intended for Education and Training Purposes
It is designed for lightness and portability,
not for high speed robot motion or full acceleration.
If robot is programmed to move aggressively
then this may result in undesirable shaking of the frame,
even resulting in the activation of the door safety switch.
Please avoid such unintended use.

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1 Selecting and running Example program
1.1 Start Up Screen
When the robot controller is turned on, it displays the following Start-Up Instructions:

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1.2 Example Program “AAA_DEMO”
The program “AAA_DEMO” has been provided as an example program.
It transfers the cylindrical parts supplied from one triangular ‘solitaire’ board to another.
To start the program follow these steps:
a. Robot must be in ‘AUTO’ mode, all E-Stops released, and cell door (‘Fence’) closed
b. Robot should not be in error condition. If robot shows error condition press the “RESET” key
on the Teach pendant to try to reset the errors.
c. Select the program “AAA_DEMO” and Press the ‘Cycle Start’ button on the front of the
controller.
(Teach pendant enable switch must be OFF and Auto/T1/T2 switch must be in ‘Auto’ position)
Please note – program “AAA_DEMO” must be selected before pressing ‘Cycle Start”